CN105643606A - Novel three-degree-of-freedom parallel robot - Google Patents
Novel three-degree-of-freedom parallel robot Download PDFInfo
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- CN105643606A CN105643606A CN201610202301.1A CN201610202301A CN105643606A CN 105643606 A CN105643606 A CN 105643606A CN 201610202301 A CN201610202301 A CN 201610202301A CN 105643606 A CN105643606 A CN 105643606A
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- folding
- parallel robot
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- driving mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention provides a novel three-degree-of-freedom parallel robot which comprises an upper platform, at least three upper hinges, at least three lower hinges, at least three driving mechanisms and a lower platform. The upper ends of the upper hinges are connected with the upper platform through first spherical hinges while the lower ends of the same are connected with the upper ends of the lower hinges through first bearings, the lower ends of the lower hinges are connected with the lower platform through second bearings, the driving mechanisms are positioned on the inner sides of the lower hinges, and the lower ends of the driving mechanisms are connected with the lower platform through second spherical hinges while the upper ends of the same are connected on the upper hinges through third spherical hinges. Under the premise of low production cost, the novel three-degree-of-freedom parallel robot can have the advantages of high load bearing capacity, large system bandwidth, safety and reliability and can meet needs on simulating rising and lowering, pitching and lateral inclining movement.
Description
Technical field
The invention belongs to robot and manufacture and design field, especially relating to a kind of novel 3-dof parallel robot, being mainly used in electronic product motion and mechanical environment simulation.
Background technology
Parallel robot owing to its rigidity is big, bearing capacity is strong, bandwidth and control accuracy advantages of higher extensively should have been had in fields such as parallel machine, medical treatment amusement equipment, Aero-Space and heavy weapon mechanical environment simulations. Six-degree-of-freedom parallel connection mechanism can provide the translation along three coordinate axess of space coordinates and the rotation around three coordinate axess; In the development process of aviation simulator, space parallel mechanism provides the simulation of the various flight attitude of aircraft for it; In commercial production, parallel institution is the core of parallel machine, and the digital parallel machine machining center of existing numerous quick high accuracies is undertaken studying in development by numerous countries and scholar at present. Six-degree-of-freedom parallel connection mechanism is widely used, and cost is also higher; And in actual motion simulation field, there is also the motion simulation requirement of a large amount of lower-mobility; Therefore the parallel institution (parallel robot) of the lower-mobility such as two degrees of freedom, Three Degree Of Freedom and four-degree-of-freedom progresses into people's sight line.
3-dof parallel robot can as the fire control system performance test stand of tank, it is provided that the Tank Ride Road environmental simulation of pitching, inclination and heave three degree of freedom, provides laboratory proofing condition for improving Tank Fire Control performance. 3-dof parallel robot as public place of entertainment drive simulation equipment, can provide corresponding sensation simulation for different road environments. 3-dof parallel robot application market is wide, has significant application value. But, existing 3-dof parallel robot is not yet ripe in bearing capacity, system bandwidth, security performance and production cost, and room for promotion is bigger.
Summary of the invention
For Shortcomings in prior art, the invention provides a kind of novel 3-dof parallel robot, this parallel robot is under the premise of relatively low production cost, can possess the features such as bearing capacity is strong, system bandwidth is big, safe and reliable, the demand of heave, pitching and roll motion simulation can be met.
The present invention realizes above-mentioned technical purpose by techniques below means.
A kind of novel 3-dof parallel robot, including folding under folding in upper mounting plate, at least three, at least three, at least three driving mechanism and lower platform;The upper end of described upper folding is connected by the first ball pivot and upper mounting plate; The lower end of described upper folding is connected by the upper end of clutch shaft bearing and lower folding; The lower end of described lower folding is connected by the second bearing and lower platform; Described driving mechanism is positioned at inside lower folding; The lower end of described driving mechanism connects lower platform by the second ball pivot, and the upper end of driving mechanism is connected in upper folding by the 3rd ball pivot.
Further, described upper folding, lower folding and driving mechanism are three, and are evenly distributed between upper mounting plate and lower platform.
Further, described upper folding and lower fold location one_to_one corresponding each other.
Further, described driving mechanism lower end and the lower line of folding lower end overlap with the radial direction of lower platform.
Further, the described driving mechanism upper end distance apart from upper folding upper end is the upper fold lengths of 1/2-3/4 times.
Further, the width of described lower folding and thickness are all higher than folding.
Further, the shape of described upper folding is low wide and up narrow trapezoidal.
Further, described driving mechanism is hydraulic cylinder, cylinder, electric cylinder and ultrasound electric machine.
Beneficial effects of the present invention:
The novel 3-dof parallel robot of one of the present invention, by driving mechanism, upper folding, lower folding and lower platform are formed lanar four rod mechanism, multiple lanar four rod mechanisms are installed in upper mounting plate bottom, realize the demand of heave, pitching and roll motion simulation with simple mechanism; The parts interchangeability of parallel robot of the present invention is good, manufactures easy for installation, and production cost is relatively low; Possessing that mechanism is simple, rigidity big, bearing capacity is strong, motility good, system bandwidth relatively high; The degree of freedom of this parallel robot realizes passing through programme-control driving mechanism movement combination and obtains, and controls flexible, can install by simultaneous adaptation different loads.
Accompanying drawing explanation
Fig. 1 is the structural representation of novel 3-dof parallel robot of the present invention.
Description of reference numerals is as follows:
1-upper mounting plate, the upper folding of 2-, folding under 3-, 4-driving mechanism, folding under 5-, 6-lower platform, 7-the second ball pivot, 8-the second bearing, 9-clutch shaft bearing, 10-the 3rd ball pivot.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
As it is shown in figure 1, a kind of novel 3-dof parallel robot, including upper folding 3, three 5, three driving mechanisms 4 of lower folding of upper mounting plate 1, three and lower platform 6; Three upper foldings 3 and three lower foldings 5 are evenly distributed on upper mounting plate 1 and lower platform 6, and upper folding 3 and lower folding 5 position one_to_one corresponding; The upper end of described upper folding 3 is connected by the first ball pivot 2 and upper mounting plate 1; The lower end of described upper folding 3 is connected by the upper end of clutch shaft bearing 9 and lower folding 5; The lower end of described lower folding 5 is connected by the second bearing 8 and lower platform 6; Described driving mechanism 4 is positioned at inside lower folding 5, and described driving mechanism 4 lower end and the lower line of folding 5 lower end overlap with the radial direction of lower platform 6. The lower end of described driving mechanism 4 connects lower platform 6 by the second ball pivot 7, the upper end of driving mechanism 4 is connected in folding 3 by the 3rd ball pivot 10,, apart from upper folding 3 length that distance is 1/2-3/4 times of upper folding 3 upper end, so can more convenient exert oneself and transmitting movement in described driving mechanism 4 upper end. The width of described lower folding 5 and thickness are made more than upper folding 3, and the shape of described upper folding 3 is low wide and up narrow trapezoidal, to increase the bearing capacity of whole parallel robot, improves rigidity and the stability of parallel system simultaneously.Novel 3-dof parallel robot upper mounting plate can be connected a course degree of freedom, constitutes the movement environment simulation of four-degree-of-freedom. The important application scenario of mechanism is severe duty, it is provided that the motion simulation environment of high accuracy and high frequency sound. Driving mechanism 4 can be chosen as hydraulic cylinder, cylinder, electric cylinder and ultrasound electric machine etc. It is practical that this 3-dof parallel robot is also used as Three Degree Of Freedom passive energy dissipation mechanism, is replaced with liquid gas amortisseur by driving mechanism 4.
This Degree of Structure Freedom is Three Degree Of Freedom:
In formula: the number of degrees of freedom, of f-parallel robot; N-forms rod member number (including frame); G-kinematic pair number; fiThe number of degrees of freedom, of-i-th kinematic pair; ft-isolated degree of freedom number.
Work process:
During heave movement: being fixed on lower platform 6 three driving mechanisms 4 and stretch out simultaneously or retract, the upper mounting plate 1 realizing parallel robot respectively rises or descending motion.
During elevating movement: when driving mechanism 4 extend out to middle position, be synchronized with the movement with two of which driving mechanism 4, one driving mechanism 4 of their direction of motion and residue is in opposite direction simultaneously, can realize upper mounting plate 1 elevating movement of parallel robot.
During roll motion: when driving mechanism 4 extend out to middle position, fixing one of them driving mechanism 4 motionless, two other driving mechanism 4 realizes differential motion each other, can realize the roll motion of the upper mounting plate 1 of parallel robot.
Described embodiment be the present invention preferred embodiment; but the present invention is not limited to above-mentioned embodiment; when without departing substantially from the flesh and blood of the present invention, those skilled in the art can make any conspicuously improved, replace or modification belongs to protection scope of the present invention.
Claims (8)
1. a novel 3-dof parallel robot, it is characterized in that, including folding (5) under folding (3), at least three in upper mounting plate (1), at least three, at least three driving mechanism (4) and lower platform (6); The upper end of described upper folding (3) is connected by the first ball pivot (2) and upper mounting plate (1); The lower end of described upper folding (3) is connected by the upper end of clutch shaft bearing (9) and lower folding (5); The lower end of described lower folding (5) is connected by the second bearing (8) and lower platform (6); Described driving mechanism (4) is positioned at lower folding (5) inner side; The lower end of described driving mechanism (4) connects lower platform (6) by the second ball pivot (7), and the upper end of driving mechanism (4) is connected in folding (3) by the 3rd ball pivot (10).
2. the novel 3-dof parallel robot of one according to claim 1, it is characterized in that, described upper folding (3), lower folding (5) and driving mechanism (4) are three, and are evenly distributed between upper mounting plate (1) and lower platform (6).
3. the novel 3-dof parallel robot of one according to claim 2, it is characterised in that described upper folding (3) and lower folding (5) position one_to_one corresponding each other.
4. the novel 3-dof parallel robot of one according to claim 1 or 3, it is characterised in that the line of described driving mechanism (4) lower end and lower folding (5) lower end overlaps with the radial direction of lower platform (6).
5. the novel 3-dof parallel robot of one according to claim 4, it is characterised in that described driving mechanism (4) upper end distance apart from upper folding (3) upper end is upper folding (3) length of 1/2-3/4 times.
6. a kind of novel 3-dof parallel robot according to claim 1 or 5, it is characterised in that width and the thickness of described lower folding (5) are all higher than folding (3).
7. the novel 3-dof parallel robot of one according to claim 6, it is characterised in that the shape of described upper folding (3) is low wide and up narrow trapezoidal.
8. the novel 3-dof parallel robot of one according to claim 1 or 7, it is characterised in that described driving mechanism (4) is hydraulic cylinder, cylinder, electric cylinder and ultrasound electric machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610202301.1A CN105643606A (en) | 2016-04-01 | 2016-04-01 | Novel three-degree-of-freedom parallel robot |
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| CN201610202301.1A CN105643606A (en) | 2016-04-01 | 2016-04-01 | Novel three-degree-of-freedom parallel robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627287A (en) * | 2016-11-02 | 2017-05-10 | 江苏大学镇江流体工程装备技术研究院 | Magneto-rheological six-degree-of-freedom parallel vibration reduction platform for vehicle seat |
| CN109048858A (en) * | 2018-08-20 | 2018-12-21 | 苏州中研讯科智能科技有限公司 | Carrying robot hoisting system based on parallel institution |
| CN110076755A (en) * | 2019-05-06 | 2019-08-02 | 燕山大学 | Three freedom degree motion simulator |
| CN110803264A (en) * | 2019-11-06 | 2020-02-18 | 广东精铟海洋工程股份有限公司 | Attitude compensation device and overwater operation platform |
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| CN103029121A (en) * | 2012-12-11 | 2013-04-10 | 燕山大学 | Three-degree-of-freedom parallel simulation platform with plane four-connecting rod closed loop structure |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106627287A (en) * | 2016-11-02 | 2017-05-10 | 江苏大学镇江流体工程装备技术研究院 | Magneto-rheological six-degree-of-freedom parallel vibration reduction platform for vehicle seat |
| CN109048858A (en) * | 2018-08-20 | 2018-12-21 | 苏州中研讯科智能科技有限公司 | Carrying robot hoisting system based on parallel institution |
| CN110076755A (en) * | 2019-05-06 | 2019-08-02 | 燕山大学 | Three freedom degree motion simulator |
| CN110803264A (en) * | 2019-11-06 | 2020-02-18 | 广东精铟海洋工程股份有限公司 | Attitude compensation device and overwater operation platform |
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Application publication date: 20160608 |